// Copyright (c) 2023, Czech Technical University in Prague
// Copyright (c) 2019, paplhjak
// Copyright (c) 2009, Willow Garage, Inc.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
//    * Redistributions of source code must retain the above copyright
//      notice, this list of conditions and the following disclaimer.
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//    * Redistributions in binary form must reproduce the above copyright
//      notice, this list of conditions and the following disclaimer in the
//      documentation and/or other materials provided with the distribution.
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//      contributors may be used to endorse or promote products derived from
//      this software without specific prior written permission.
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#include <list>
#include <string>

#include <point_cloud_transport/publisher_plugin.hpp>
#include <point_cloud_transport/single_subscriber_publisher.hpp>

namespace point_cloud_transport
{

PublisherPlugin::EncodeResult PublisherPlugin::encode(const sensor_msgs::msg::PointCloud2 & raw)
const
{
  return this->encode(raw);
}

void PublisherPlugin::advertise(
  std::shared_ptr<rclcpp::Node> node,
  const std::string & base_topic,
  rmw_qos_profile_t custom_qos,
  const rclcpp::PublisherOptions & options)
{
  advertiseImpl(node, base_topic, custom_qos, options);
}

void PublisherPlugin::publish(const sensor_msgs::msg::PointCloud2::ConstSharedPtr & message) const
{
  publish(*message);
}

std::string PublisherPlugin::getLookupName(const std::string & transport_name)
{
  return "point_cloud_transport/" + transport_name + "_pub";
}

}  // namespace point_cloud_transport
